Stiffness and Elastic Deformation of 4-DoF Parallel Manipulator with Three Asymmetrical Legs for Supporting Helicopter Rotor

Table 1

Simulation solved results of elastic deformations of EF model of 2SPS + RRPR PM.

Elastic deformation of , mm			Position of (m)
	FE model	Theoretical
	0.9058	0.8934	FE model position of No. 19319 joint
	−0.8387	−0.8550	−0.049	0.317	1.71
	−0.3434	−0.2547	Theoretical position of
	0.0258	0.0534	0	0.3192	1.6540